Library for 3D Kinematics & Dynamics of system of rigid bodies. It's used in Robotics & Biomechanics
|15 Apr 2010||Lissa||
The library is based on an extension of the 4x4 transformation matrix approach by Denavith and Hartenberg . The present extension adds 4x4 matrices for the velocity and accelerations (angular and linear) plus 4x4 matrices for forces (and torques), momentum (angular and linear) and inertia.